Development of User-friendly Tuning for Impedance Control Parameters
Junji shimamura* and Masaki Arao**
*Industrial Automation Company, OMRON Corporation, Shiokoji Horikawa, Shimogyo-ku, Kyoto 600-8530, Japan
**Information Technology Research Center, OMRON Corporation, 2-2-1 Nishikusatsu, Kusatsu, Japan
Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.
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Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.